救援机器人多传感器信息融合技术分析-analysis of multi-sensor information fusion technology of rescue robot.docxVIP

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救援机器人多传感器信息融合技术分析-analysis of multi-sensor information fusion technology of rescue robot.docx

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救援机器人多传感器信息融合技术分析-analysis of multi-sensor information fusion technology of rescue robot

RescueRobotMulti-sensorInformationFusionTechnologyResearchAbstractInrecentyears,earthquake,minedisaster,nuclearleakage,terrorismandlocalwarofnaturalorman-madedisasterssuchasaseriousthreattohumanlifesafety,hasreceivedthewidespreadattention.Theuseoftherescuerobotreplacehumanintodangerousandcomplexrescuesiteforenvironmentalexploration,searchingforsurvivingtherobotresearchpersonnelisanimportantresearchdirection.Thispapertakesrescuerobotastheresearchobject,totherescuerobotmulti-sensorinformationfusiontechnologyofresearch.Itmainlyintroducesthecompositionandrescuerobot,andanalyzesthearchitectureofthespecialrescuesiteafterdisastersintheenvironmentalcharacteristicbasedsuperior,anddesigntheenvironmentalinformationcollectionrobot,anddesignthethreemodulesmulti-sensorinformationfusionalgorithmmainlyinclude:Adaptiveweightedfusionestimationalgorithmofultrasonicrangingarraymeasureddatafusionprocessing,toobtainmoreprecisedistanceinformation.BasedonBPneuralnetworkinformationfusionmethodofundergroundgasdetectionofdataprocessing,ittakestwolevelfusionways,gettingin-wellenvironmentcharacteristics,anditmakesthecomprehensivesafetyconditionsofundergroundmadeglobaljudgment.BasedonadaptiveweightedalgorithmandT-Sfuzzyneuralnetworkalgorithmcombiningtwolevelfusionalgorithm,itrealizetherescuerobotreal-timeobstacleavoidance.Thispaperdesignedbymulti-sensorinformationfusionalgorithmforrescuerobotinthepost-quakeenvironmentalinformationdetection,survivingthejobsuchaspersonnelsearchprovidesgreathelp;Meanwhile,thistechnologyalsocanbeusedinsimilarfunctionrobotrangefinder,positioning,targetrecognition,autonomousnavigation,obstacle-avoidingandpathplanning,ithavehigheronissuessuchaseconomicsignificanceandsocialsignificance.Keywords:Informationfusion,Rescuerobot,Ultrasonicranging,Obstacleavoidance目录1绪论........................................................................................................................................11.1研究背景··································································